#ifndef __CHASSIS_H__
#define __CHASSIS_H__

#include "math.h"
#include "cmsis_os.h"
#include "FreLib.h"

float Calculate_W(float ComputerAng_DIFF,float CoordAng_DIFF,float sYaw_Aim
					,float sYaw_Ang,uint8_t W_Sign);
void Helm_Wheel_Control(int16_t Vx,int16_t Vy,float W,int8_t W_Sign,uint8_t sBlock_Sign);



#endif 